CN113339677B - Amphibious pipe network robot - Google Patents

Amphibious pipe network robot Download PDF

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Publication number
CN113339677B
CN113339677B CN202110730279.9A CN202110730279A CN113339677B CN 113339677 B CN113339677 B CN 113339677B CN 202110730279 A CN202110730279 A CN 202110730279A CN 113339677 B CN113339677 B CN 113339677B
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China
Prior art keywords
driving
crawler
side wall
wheel
rotate
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Active
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CN202110730279.9A
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Chinese (zh)
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CN113339677A (en
Inventor
韩旭
伍乾坤
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Hebei University of Technology
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Hebei University of Technology
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Priority to CN202110730279.9A priority Critical patent/CN113339677B/en
Publication of CN113339677A publication Critical patent/CN113339677A/en
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Publication of CN113339677B publication Critical patent/CN113339677B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
    • B60F3/0038—Flotation, updrift or stability devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The application provides an amphibious pipe network robot, which comprises a crawler chassis, traveling crawlers and a driving assembly, wherein the traveling crawlers are arranged on two sides of the crawler chassis through a transmission assembly; the transmission assembly is used for driving the two advancing tracks to rotate and advance when acting; the outer wall of the travelling crawler is provided with a plurality of grabs and floating balls which are in frictional contact with a water path or a land path. The application provides an amphibious pipe network robot is through setting up paddle and floater, simple structure, and the land and water of being convenient for is marchd, the environment of marcing of adaptable abominable, complicated pipe network.

Description

Amphibious pipe network robot
Technical Field
The present disclosure generally relates to the technical field of pipe network robots, and in particular relates to an amphibious pipe network robot.
Background
The pipe network robot is generally used for collecting data in a pipeline and solving the problem of underground space positioning.
In the prior art, the pipe network robot is limited by the complex environment in the pipeline, such as: the robot is easy to tip over or sink in a wet and slippery environment, a silt environment, a water environment and the like; the normal detection of the detection equipment on the device is influenced, and even the situation of unable return can occur, thus wasting detection resources.
Disclosure of Invention
In view of the above-mentioned drawbacks or disadvantages of the prior art, it is desirable to provide an amphibian network robot that can solve the above-mentioned technical problems.
The application provides an amphibious pipe network robot, includes:
a crawler chassis;
two travelling crawlers mounted on both sides of the crawler chassis through a transmission assembly;
the driving component is used for driving the transmission component to act;
the transmission assembly is used for driving the two travelling crawler belts to rotate and travel when acting;
the outer wall of the advancing crawler is provided with a plurality of paddles and floating balls which are in frictional contact with a water path or a land path.
According to the technical scheme provided by the embodiment of the application, the paddle and the floating ball are arranged at intervals.
According to the technical scheme provided by the embodiment of the application, the scribing plate is perpendicular to the traveling crawler.
According to the technical scheme provided by the embodiment of the application, the two travelling crawler belts are respectively a first crawler belt and a second crawler belt; the transmission assembly comprises a first assembly and a second assembly, the first assembly is used for driving the first crawler belt to rotate, and the second assembly is used for driving the second crawler belt to rotate.
According to the technical scheme provided by the embodiment of the application, the side wall of the crawler chassis, which is close to the first crawler belt, is a first side wall, and the side wall of the crawler chassis, which is close to the second crawler belt, is a second side wall;
the first assembly comprises a first driving shaft and a first driven shaft which are perpendicular to the first side wall and are in rotary connection with the first side wall, a first driving wheel installed on the first driving shaft and a first driven wheel installed on the first driven shaft;
the first driving wheel and the first driven wheel are meshed with the inner wall of the first crawler belt and used for driving the first crawler belt to rotate.
According to the technical scheme provided by the embodiment of the application, the second assembly comprises a second driving shaft and a second driven shaft which are perpendicular to the second side wall and are in rotary connection with the second side wall, a second driving wheel installed on the second driving shaft and a second driven wheel installed on the second driven shaft;
the second driving wheel and the second driven wheel are meshed with the inner wall of the second crawler belt and used for driving the second crawler belt to rotate.
According to the technical scheme provided by the embodiment of the application, the driving assembly comprises a first motor and a second motor, wherein the first motor is used for driving the first driving shaft to rotate, and the second motor is used for driving the second driving shaft to rotate; the first motor and the second motor are installed in the crawler chassis in different installation directions.
According to the technical scheme provided by the embodiment of the application, one end of the first motor, which is far away from the first driving wheel, is close to the second side wall; one end of the second motor, which is far away from the second driving wheel, is close to the first side wall.
According to the technical scheme provided by the embodiment of the application, a first tensioning wheel is rotatably connected to the first side wall and used for tensioning the first crawler;
and a second tensioning wheel is rotatably connected to the second side wall and used for tensioning the second crawler belt.
According to the technical scheme provided by the embodiment of the application, the crawler chassis is provided with the camera.
The beneficial effect of this application lies in: when the amphibious pipe network robot travels in a water environment, the floating ball is subjected to buoyancy so that the amphibious pipe network robot can adapt to the water surface environment, and the driving assembly drives the transmission assembly to act so as to enable the traveling crawler to rotate and travel; the outer wall of the travelling crawler is provided with the paddle and the floating ball, so that the contact area with water in the travelling process is increased, and the water-paddling capacity is increased; when ground environment marched, this moment the scratch board directly contacted with ground with the floater outside, increased area of contact, it is stronger to grab the land fertility. Even when the sludge is in the pipeline, the paddle and the contact surface of the floating ball and the sludge are large, so that the pipeline can pass smoothly.
When the paddle is in contact with the ground for supporting, the floating ball has deformation, so that the bumping in the traveling process can be reduced, and the phenomenon that the traveling or detection is influenced by the toppling and bumping of the robot caused by too fast movement or complex environment is avoided.
The application provides a pair of amphibian pipe network robot is adaptable in water and land environment, has increased the area of contact between the in-process of marcing and surface of water or bottom surface, has improved the adaptability to complex environment, is favorable to improving detection efficiency.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic top view of an amphibious pipe network robot provided by the application;
fig. 2 is a schematic side view of an amphibious pipe network robot provided by the present application;
reference numbers in the figures:
1. a crawler chassis; 2. scribing a plate; 3. a floating ball; 4. a first crawler belt; 5. a second crawler belt; 6. a first drive shaft; 7. a first driven shaft; 8. a first drive wheel; 9. a first driven wheel; 10. a second drive shaft; 11. a second driven shaft; 13. a second driven wheel; 14. a first motor; 15. a second motor; 16. a first tensioning wheel; 17. a second tensioning wheel; 18. a camera is provided.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Please refer to fig. 1 and 2 for the present application, which provides an amphibian network robot, comprising:
a crawler chassis 1;
two traveling crawler belts are arranged on two sides of the crawler chassis 1 through transmission assemblies;
the driving component is used for driving the transmission component to act;
the transmission assembly is used for driving the two travelling crawler belts to rotate and travel when acting;
the outer wall of the travelling crawler is provided with a plurality of paddles 2 and floating balls 3 which are in frictional contact with a water path or a land path, as shown in figure 2.
Specifically, "land" refers broadly to a ground environment, i.e., a ground, a structural surface, a wetlands, a silty, a grasslands, or other ground environments. "waterway" refers broadly to an aqueous environment, i.e., an aqueous, downhole, river, or other waterway environment.
Specifically, the number of the scratch boards 2 and the floating balls 3 is several, namely one, two or more; preferably, the plurality of the grabs 2 and the plurality of the floating balls 3 are uniformly arranged on the outer wall of the travelling crawler.
Specifically, the "outer side of the traveling crawler" is the side of the traveling crawler in contact with a waterway or a land.
Specifically, the outer walls of the two advancing tracks are circumferentially provided with the paddle 2 and the floating ball 3, and the floating ball 3 has a deformation amount.
Specifically, a plurality of mounting teeth are arranged on the outer wall of the travelling crawler along the circumferential direction, and the floating ball 3 and the paddle 2 are fixedly mounted on the mounting teeth through fasteners or mounting seats.
Specifically, a communication cable and a power cable are arranged in the crawler chassis 1.
The working principle is as follows: the application provides a amphibian pipe network robot can be adapted to multiple application scene, for the operating principle of this application of for the ease of explaining, uses the pipeline as an example:
the amphibious pipe network robot is arranged in a pipeline, when water exists in the pipeline, the floating ball 3 is subjected to the action of buoyancy force, so that the amphibious pipe network robot can adapt to the water surface environment, and at the moment, the driving assembly drives the transmission assembly to act through the driving assembly, so that the traveling crawler belt rotates to travel; the outer wall of the travelling crawler is provided with the paddle 2 and the floating ball 3, so that the contact area with water in the travelling process is increased, and the water-paddling capacity is increased; when no water exists in the pipeline, the paddle 2 is directly contacted with the inner wall of the pipeline with the outer side of the floating ball 3, so that the contact area is increased, and the ground grabbing force is stronger. Even when sludge exists in the pipeline, the paddle 2 and the floating ball 3 can smoothly pass through the pipeline because the contact surface of the paddle and the sludge is large. The floating ball 3 increases buoyancy in water on the one hand, and meanwhile, the enough contact area exists in sludge, so that the robot is prevented from being sunk into the sludge, the advancing resistance is reduced, and meanwhile, the floating ball 3 can provide enough front and back contact areas, so that the dragging force is increased.
When the paddle 2 is in contact with the ground for supporting, the floating ball 3 has deformation, so that the bumping in the traveling process can be reduced, and the phenomenon that the robot topples and bumps due to too fast movement or complex environment to influence the traveling or detection is avoided.
The application provides a pair of amphibian pipe network robot is adaptable in water and land environment, has increased the area of contact between the in-process of marcing and surface of water or bottom surface, has improved the adaptability to complex environment, is favorable to improving detection efficiency.
In a preferred embodiment of the paddle 2 and the floating ball 3, the paddle 2 and the floating ball 3 are arranged at an interval.
Preferably, a plurality of the cutting boards 2 are uniformly distributed, and the floating ball 3 is arranged between every two adjacent cutting boards 2; the interval sets up and makes when it contacts with surface of water or ground, the atress is even, makes the process of marcing more steady.
Wherein, in a preferred embodiment of the paddle 2, the paddle 2 is arranged perpendicular to the travelling track. When the paddle 2 is in contact with the water surface, the contact area of the paddle and the water surface is the largest, and the paddling capacity is improved.
Wherein, in a preferred embodiment of the transmission assembly, the two travelling tracks are a first track 4 and a second track 5, respectively; the transmission assembly comprises a first assembly for driving the first track 4 in rotation and a second assembly for driving the second track 5 in rotation.
The first crawler belt 4 and the second crawler belt 5 are respectively controlled by the first assembly and the second assembly, so that the first crawler belt 4 and the second crawler belt 5 can be driven independently, when the crawler belt on one side is limited, the crawler belt on the other side can be driven, the complex environment can be adapted, and the situation that the crawler belt is sunk into the environment such as sludge is avoided.
In a preferred embodiment of the first assembly, the side wall of the crawler chassis 1 close to the first crawler 4 is a first side wall 101, and the side wall close to the second crawler 5 is a second side wall 102;
the first assembly comprises a first driving shaft 6 and a first driven shaft 7 which are perpendicular to the first side wall 101 and are rotatably connected with the first side wall 101, a first driving wheel 8 arranged on the first driving shaft 6 and a first driven wheel 9 arranged on the first driven shaft 7;
the first driving wheel 8 and the first driven wheel 9 are meshed with the inner wall of the first crawler 4 and are used for driving the first crawler 4 to rotate.
Specifically, the first driving shaft 6 is fixedly connected to the first driving wheel 8, and when the first driving shaft 7 rotates, the first driving wheel 8 rotates therewith, so as to drive the first track 4 and the first driven shaft 7 to rotate.
In a preferred embodiment of the second assembly, the second assembly comprises a second driving shaft 10 and a second driven shaft 11 perpendicular to the second side wall 102 and rotatably connected with the second side wall 102, a second driving wheel 12 mounted on the second driving shaft 10, and a second driven wheel 13 mounted on the second driven shaft 11;
the second driving wheel 12 and the second driven wheel 13 are engaged with the inner wall of the second crawler 5 and are used for driving the second crawler 5 to rotate.
Specifically, the second driving shaft 10 is fixedly connected to the second driving wheel 12, and when the second driving shaft 10 rotates, the second driving wheel 12 rotates along with the second driving shaft, so as to drive the second caterpillar track 5 and the second driven shaft 11 to rotate.
Wherein, in the preferred embodiment of the driving assembly, the driving assembly comprises a first motor 14 for driving the first driving shaft 6 to rotate and a second motor 15 for driving the second driving shaft 10 to rotate; the first motor 14 and the second motor 15 are installed in different directions.
Specifically, the rotating shaft of the first motor 14 is fixedly connected with the first driving shaft 6; the rotating shaft of the second motor 15 is fixedly connected with the second driving shaft 10.
Preferably, the first motor 14 and the second motor 15 are speed reduction motors.
Specifically, the first motor 14 and the second motor 15 are installed in the crawler chassis 1, so that the installation directions thereof are not collinear, that is, the first motor 14 and the second motor 15 are arranged with their side walls facing each other. The installation width can be reduced, the width size of the crawler chassis 1 is reduced, and the amphibious pipe network robot can adapt to narrow spaces such as inspection wells.
Wherein, in a preferred embodiment of the drive assembly, an end of the first motor 14 remote from the first drive wheel 8 is close to the second side wall 102; the end of the second motor 15 remote from the second drive wheel 12 is close to the first side wall 101. So that the installation width can be maximally reduced to adapt to a narrow space environment.
Wherein, in the preferred embodiment of the first and second crawler belts 4 and 5, a first tensioning wheel 16 is rotatably connected to the first side wall 101 for tensioning the first crawler belt 4;
a second tensioning wheel 17 is rotatably connected to the second side wall 102 for tensioning the second track 5.
Specifically, a first tensioning shaft is rotatably connected to the first side wall 101; the first tensioning wheel is arranged on the first tensioning shaft and is in meshed transmission with the inner wall of the first crawler 4.
Similarly, a second tensioning shaft is rotatably connected to the second side wall 102; the second tensioning wheel is installed on the second tensioning shaft, and the second tensioning wheel is in meshing transmission with the inner wall of the second crawler 5.
In the preferred embodiment of the crawler chassis 1, a camera 18 is mounted on the crawler chassis 1.
Specifically, the camera 18 is used for collecting images or video information, and preferably, the camera 18 is a waterproof camera and can be wirelessly transmitted to an external system.
In the preferred embodiment of the crawler chassis 1, a waterproof box 19 is installed on the crawler chassis 1, and the waterproof box 19 is used for waterproofing and protecting control elements or lines.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (4)

1. An amphibian pipe network robot, comprising:
a crawler chassis (1);
two travelling tracks which are arranged on two sides of the track chassis (1) through a transmission assembly;
the driving component is used for driving the transmission component to act;
the transmission assembly is used for driving the two travelling crawler belts to rotate and travel when acting;
the outer wall of the travelling crawler is provided with a plurality of grabs (2) and floating balls (3) which are in frictional contact with a water path or a land path;
the paddle (2) and the floating ball (3) are arranged at intervals;
the two travelling tracks are respectively a first track (4) and a second track (5); the transmission assembly comprises a first assembly for driving the first crawler belt (4) to rotate and a second assembly for driving the second crawler belt (5) to rotate;
the side wall of the crawler chassis (1) close to the first crawler (4) is a first side wall (101), and the side wall of the crawler chassis close to the second crawler (5) is a second side wall (102);
the first assembly comprises a first driving shaft (6) and a first driven shaft (7) which are perpendicular to the first side wall (101) and are rotatably connected with the first side wall (101), a first driving wheel (8) installed on the first driving shaft (6) and a first driven wheel (9) installed on the first driven shaft (7);
the first driving wheel (8) and the first driven wheel (9) are meshed with the inner wall of the first crawler belt (4) and are used for driving the first crawler belt (4) to rotate;
the second assembly comprises a second driving shaft (10) and a second driven shaft (11) which are perpendicular to the second side wall (102) and are rotatably connected with the second side wall (102), a second driving wheel (12) installed on the second driving shaft (10) and a second driven wheel (13) installed on the second driven shaft (11);
the second driving wheel (12) and the second driven wheel (13) are meshed with the inner wall of the second crawler belt (5) and are used for driving the second crawler belt (5) to rotate;
the driving assembly comprises a first motor (14) for driving the first driving shaft (6) to rotate and a second motor (15) for driving the second driving shaft (10) to rotate; the installation directions of the first motor (14) and the second motor (15) are not collinear;
one end of the first motor (14) far away from the first driving wheel (8) is close to the second side wall (102); one end of the second motor (15) far away from the second driving wheel (12) is close to the first side wall (101).
2. The amphibian ductwork robot of claim 1, wherein: the paddle (2) is arranged perpendicular to the travelling track.
3. The amphibian ductwork robot of claim 1, wherein:
a first tensioning wheel (16) is rotatably connected to the first side wall (101) and used for tensioning the first crawler belt (4);
and a second tensioning wheel (17) is rotatably connected to the second side wall (102) and is used for tensioning the second crawler belt (5).
4. The amphibian robot of any one of claims 1-3, wherein: the crawler chassis (1) is provided with a camera (18).
CN202110730279.9A 2021-06-29 2021-06-29 Amphibious pipe network robot Active CN113339677B (en)

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Application Number Priority Date Filing Date Title
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CN113339677B true CN113339677B (en) 2022-11-22

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Citations (1)

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Publication number Priority date Publication date Assignee Title
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NL8300052A (en) * 1983-01-07 1984-08-01 Digging Trading MACHINE FOR GROUNDING A FLEXIBLE PIPE OR CABLE.
RU2458800C2 (en) * 2010-07-05 2012-08-20 Федеральное государственное образовательное учреждение высшего профессионального образования "Морской государственный университет имени адмирала Г.И. Невельского" Amphibious support-and-propulsion device
CN103672296B (en) * 2013-12-17 2015-12-02 王军 A kind of integrated frame type pipeline robot
CN204223006U (en) * 2014-09-10 2015-03-25 南京工程学院 A kind of amphibious robot structure
CN205278674U (en) * 2015-10-23 2016-06-01 河北工业大学 Pipeline detection robot
CN107061134A (en) * 2017-04-14 2017-08-18 王镝 Continuous gravitational potential energy electric generating apparatus
CN108860340A (en) * 2017-05-10 2018-11-23 中国石油大学(北京) Wheel-track combined omni-directional mobile robots

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205131418U (en) * 2015-11-17 2016-04-06 深圳市博铭维智能科技有限公司 Snakelike amphibious robot

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